2021-02-22 LG git上的翻译

If you are cloning our repository to work with the source code for this release, please make sure to clone the release-2020.06 branch and NOT master.

Added
Support modular testing of planning with Apollo 5.0
Bridge plugin system with example (LoggingBridge)
Added default ultrasonic distance sensor
Sensor TF visualizer in sensor visualizations
Added button in map annotation tool to add synthetic lane boundary lines automatically
Python API: added callback agents_traversed_waypoints
Python API: added ability to set speed at WalkWaypoints
Python API: Added waypoint trigger system
Changed
Fixed 90 degree orientation offset in GPS odometry sensor
Replaced default ROS2 bridge to improved custom ROS2 bridge instead of ros2-web-bridge
Unity update to 2019.3.15f1
Fixed timestamps in GPS, IMU
Added timestamp to default LiDAR sensor PointCloud message
Fixed bugs in OpenDrive map importer to correctly compute reference lines and lane widths for edge cases
Improved OpenDrive map exporter to export parametric cubic curves instead of simple lines for each reference line segment

如果您要克隆我们的存储库以使用此版本的源代码，请确保克隆release-2020.06分支而不是master。
补充
支持阿波罗5.0规划的模块化测试
网桥插件系统示例（LoggingBridge）
增加了默认的超声波距离传感器
传感器可视化中的传感器TF可视化仪
在地图注释工具中添加按钮以自动添加合成车道边界线
pythonapi：添加回调代理\u遍历\u路径点
pythonapi：增加了设置速度的能力
pythonapi：增加了航路点触发系统
改变
GPS里程传感器中90度定位误差的修正
将默认的ROS2网桥替换为改进的自定义ROS2网桥，而不是ros2webbridge
统一更新至2019.3.15f1
GPS、IMU中的固定时间戳
为默认激光雷达传感器点云消息添加了时间戳
修正了OpenDrive地图导入器中的错误，以正确计算边缘情况的参考线和车道宽度
改进的OpenDrive地图导出器为每个参考线段导出参数化三次曲线，而不是简单的直线